diff --git a/README.md b/README.md
index 8f30f0cd..f0d95a05 100644
--- a/README.md
+++ b/README.md
@@ -59,7 +59,7 @@ For advanced instructions on the Python pacakge plase see [this README](python/R
 <summary>ROS 2</summary>
 
 ```sh
-git clone https://github.com/PRBonn/kiss-icp && colcon build
+cd ~/ros2_ws/src/ && git clone https://github.com/PRBonn/kiss-icp && cd ~/ros2_ws/ && colcon build --packages-select kiss_icp
 ```
 </details>
 
diff --git a/ros/ros2/OdometryServer.cpp b/ros/ros2/OdometryServer.cpp
index dfd8b1d3..0ddedb95 100644
--- a/ros/ros2/OdometryServer.cpp
+++ b/ros/ros2/OdometryServer.cpp
@@ -81,7 +81,7 @@ OdometryServer::OdometryServer(const rclcpp::NodeOptions &options)
         std::bind(&OdometryServer::RegisterFrame, this, std::placeholders::_1));
 
     // Initialize publishers
-    rclcpp::QoS qos((rclcpp::SystemDefaultsQoS()));
+    rclcpp::QoS qos((rclcpp::SystemDefaultsQoS().keep_last(1).durability_volatile()));
     odom_publisher_ = create_publisher<nav_msgs::msg::Odometry>("/kiss/odometry", qos);
     traj_publisher_ = create_publisher<nav_msgs::msg::Path>("/kiss/trajectory", qos);
     path_msg_.header.frame_id = odom_frame_;
@@ -214,3 +214,6 @@ void OdometryServer::PublishClouds(const std::vector<Eigen::Vector3d> frame,
     }
 }
 }  // namespace kiss_icp_ros
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(kiss_icp_ros::OdometryServer)
diff --git a/ros/ros2/OdometryServer.hpp b/ros/ros2/OdometryServer.hpp
index 13726d3a..418e0d2c 100644
--- a/ros/ros2/OdometryServer.hpp
+++ b/ros/ros2/OdometryServer.hpp
@@ -94,10 +94,3 @@ class OdometryServer : public rclcpp::Node {
 };
 
 }  // namespace kiss_icp_ros
-
-#include "rclcpp_components/register_node_macro.hpp"
-
-// Register the component with class_loader.
-// This acts as a sort of entry point, allowing the component to be
-// discoverable when its library is being loaded into a running process.
-RCLCPP_COMPONENTS_REGISTER_NODE(kiss_icp_ros::OdometryServer)
diff --git a/ros/rviz/kiss_icp_ros2.rviz b/ros/rviz/kiss_icp_ros2.rviz
index e2949cc4..918ff216 100644
--- a/ros/rviz/kiss_icp_ros2.rviz
+++ b/ros/rviz/kiss_icp_ros2.rviz
@@ -58,7 +58,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/frame
           Use Fixed Frame: true
           Use rainbow: true
@@ -92,7 +92,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/keypoints
           Use Fixed Frame: true
           Use rainbow: true
@@ -126,7 +126,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/local_map
           Use Fixed Frame: true
           Use rainbow: true
@@ -171,7 +171,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/odometry
           Value: true
         - Alpha: 1
@@ -199,7 +199,7 @@ Visualization Manager:
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: /kiss/trajectory
           Value: true
       Enabled: true